/*
 * Copyright (c) 2009, Regents of the University of California
 * All rights reserved.
 * 
 * Redistribution and use in source and binary forms, with or without
 * modification, are permitted provided that the following conditions are met:
 * 
 *  * Redistributions of source code must retain the above copyright notice,
 * this list of conditions and the following disclaimer.
 *  * Redistributions in binary form must reproduce the above copyright
 * notice, this list of conditions and the following disclaimer in the
 * documentation and/or other materials provided with the distribution.
 *  * Neither the name of the University of California, Berkeley
 * nor the names of its contributors may be used to endorse or promote
 * products derived from this software without specific prior written
 * permission.
 * 
 * THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS
 * "AS IS" AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT
 * LIMITED TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS
 * FOR A PARTICULAR PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE
 * COPYRIGHT OWNER OR CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT,
 * INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING,
 * BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES;
 * LOSS OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER
 * CAUSED AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT,
 * STRICT LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE)
 * ARISING IN ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED
 * OF THE POSSIBILITY OF SUCH DAMAGE.
 */
package house.thermostat;

import house.thermostat.goalSeeker.GoalSeekerTask;
import house.simulation.HouseIO;
import TranRunJLite.*;
import javax.swing.SwingUtilities;
import house.userInterface.UserInterfaceJFrame;

/** The TrjSys that implements a thermostat.
 * 
 * @author William Burke <billstron@gmail.com>
 */
public class ThermostatSys extends TrjSys {

    String name;
    private final HvacHystControlTask heaterHystCont;
    private final HvacHystControlTask coolerHystCont;
    private final HvacPIDControlTask heaterPidCont;
    private final HvacPIDControlTask coolerPidCont;
    private final TinFilterTask TinFilt;
    private final HvacPwmTask heaterPwm;
    private final HvacPwmTask coolerPwm;
    private final CoordinatorTask coordinator;
    private final SupervisorTask supervisor;
    private final UserInterfaceTask userInterface;
    private final ComTask com;
    private final GoalSeekerTask goalSeeker;

    /** Construct the Thermostat System.
     * 
     * @param name
     * @param tm
     * @param therm -- Where to send the input/output data.  
     */
    public ThermostatSys(String name, TrjTime tm, HouseIO therm) {
        super(tm);

        this.name = name;

        double dtBox = 15 * 60;
        double dtFilter = 1;
        TinFilt = new TinFilterTask("Inside Temp Filter", this, therm, dtBox,
                dtFilter);

        double dtPeriod = 15 * 60;
        double dtPwm = 1;
        heaterPwm = new HvacPwmTask("Heater PWM", this, dtPeriod, true,
                dtPwm, false/*trigger mode*/, therm);
        coolerPwm = new HvacPwmTask("Cooler PWM", this, dtPeriod, false,
                dtPwm, false/*trigger mode*/, therm);

        double dtPid = 15 * 60;
        double kp = 1;
        double ki = 1;
        double kd = 0;
        heaterPidCont = new HvacPIDControlTask("Heater PID Controller", this,
                true, kp, ki, kd, heaterPwm, TinFilt, dtPid);
        coolerPidCont = new HvacPIDControlTask("Cooler PID Controller", this,
                false, kp, ki, kd, coolerPwm, TinFilt, dtPid);

        heaterHystCont = new HvacHystControlTask("Heater Control Task", this,
                true, therm, 5.0);
        coolerHystCont = new HvacHystControlTask("Cooler Control Task", this,
                false, therm, 5.0);

        coordinator = new CoordinatorTask("Coordinator Task",
                this, heaterHystCont, coolerHystCont,
                heaterPidCont, coolerPidCont, 5.0);
        coordinator.setMode(ThermostatMode.COOLING);
        coordinator.SetCommand(coordinator.START_HYST_CONTROL);

        supervisor = new SupervisorTask("Supervisor Task", this,
                5.0);

        userInterface = new UserInterfaceTask("User Interface Task", this,
                0.5);

        com = new ComTask("Communications Task", this, 1.0);

        goalSeeker = new GoalSeekerTask("Goal Seeker Task", this,
                supervisor, coordinator, userInterface, com, 5.0);
    }

    /** Construct the Thermostat System with a GUI.
     *
     * @param name
     * @param tm
     * @param therm -- where to send the input/output data.
     * @param uiFlag -- create a gui?
     */
    public ThermostatSys(String name, TrjTime tm, HouseIO therm, boolean uiFlag) {
        super(tm);

        this.name = name;

        double dtBox = 15 * 60;
        double dtFilter = 1;
        TinFilt = new TinFilterTask("Inside Temp Filter", this, therm, dtBox,
                dtFilter);

        double dtPeriod = 15 * 60;
        double dtPwm = 1;
        heaterPwm = new HvacPwmTask("Heater PWM", this, dtPeriod, true,
                dtPwm, false/*trigger mode*/, therm);
        coolerPwm = new HvacPwmTask("Cooler PWM", this, dtPeriod, false,
                dtPwm, false/*trigger mode*/, therm);

        double dtPid = 15 * 60;
        double kp = 1;
        double ki = 1;
        double kd = 0;
        heaterPidCont = new HvacPIDControlTask("Heater PID Controller", this,
                true, kp, ki, kd, heaterPwm, TinFilt, dtPid);
        coolerPidCont = new HvacPIDControlTask("Cooler PID Controller", this,
                false, kp, ki, kd, coolerPwm, TinFilt, dtPid);

        heaterHystCont = new HvacHystControlTask("Heater Control Task", this,
                true, therm, 5.0);
        coolerHystCont = new HvacHystControlTask("Cooler Control Task", this,
                false, therm, 5.0);

        coordinator = new CoordinatorTask("Coordinator Task",
                this, heaterHystCont, coolerHystCont,
                heaterPidCont, coolerPidCont, 5.0);
        coordinator.setMode(ThermostatMode.COOLING);
        coordinator.SetCommand(coordinator.START_HYST_CONTROL);

        supervisor = new SupervisorTask("Supervisor Task", this,
                5.0);

        userInterface = new UserInterfaceTask("User Interface Task", this,
                0.5);

        com = new ComTask("Communications Task", this, 1.0);

        goalSeeker = new GoalSeekerTask("Goal Seeker Task", this,
                supervisor, coordinator, userInterface, com, 5.0);

        if (uiFlag) {
            UserInterfaceJFrame gui = new UserInterfaceJFrame(userInterface);
            SwingUtilities.invokeLater(gui);
        }
    }
}
